Design of Vertebrae-Inspired Trunk Mechanism for Robust and Directive Quadruped Locomotion on Rough Terrain Without Requiring Sensing and Actuation

摘要

Quadrupedal animals adaptively change their trunk posture in order to avoid falling down and to facilitate directive locomotion even on rough terrain. This paper focuses on an animal-like trunk mechanism which has passive viscoelastic joints. The effect of the trunk mechanism is observed by changing the elasticity and configuration of joints. Simulation results showed that the locomotion success rate of a robot equipped with the trunk mechanism on rough terrain is higher than the locomotion success rate of a robot equipped with a rigid body. In addition, the distribution of the success rate changes according to the elastic coefficient, number, configuration, and type of joints. These results suggest a design principle for the trunk mechanism of a quadruped robot in order to obtain robust and directive locomotion without requiring sensors and actuators.